title: Suspension laryngoscopy using a curved-frame trans-oral robotic system.
abstract: OBJECTIVE
  Suspension laryngoscopy has been employed for laryngeal diseases such as treatment for a polyp, cystoma, or granuloma. After securing a straight path with a laryngoscope, the surgeon inserts rigid instruments and examines the target lesion by using a microscope. However, many patients suffer from secondary complications due to the use of a rigid laryngoscope. In addition, about 11-12 % of patients cannot be operated on using laryngoscope because of anatomical restrictions. A surgical method to treat patients using a curved-frame trans-oral robotics system was developed.
  
  
  METHODS
  A new surgical procedure is investigated using a new surgical robot system that employs a curved frame as a guide to insert flexible instruments into the target lesion. For this, a master-slave robotic system was developed, and the performance of the proposed procedure was tested by using a phantom laryngeal model.
  
  
  RESULTS
  A routine laryngeal polypectomy procedure was simulated and performed using flexible instruments guided by a master-slave surgical robot in suspension laryngoscopy.
  
  
  CONCLUSIONS
  A surgical robotic system was able to perform routine procedures to remove a polyp in the vocal cord under clinically realistic conditions on an adult phantom.
authors.affiliation: Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea, youngsikkwon@gmail.com.
authors.forename: Young-Sik
authors.initials: YS
authors.lastname: Kwon
authors.forename: Kyung
authors.initials: K
authors.lastname: Tae
authors.forename: Byung-Ju
authors.initials: BJ
authors.lastname: Yi
mesh_terms: D006801:Humans; D007818:Laryngeal Diseases / Q000601:surgery*; D020704:Laryngoscopes; D007828:Laryngoscopy / Q000295:instrumentation* / Q000379:methods; D011127:Polyps / Q000601:surgery; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014827:Vocal Cords / Q000601:surgery